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RobOptim: an Optimization Framework for Robotics

Abstract : Numerical optimization is useful for various areas of robotics. However tackling optimization problems properly requires the use of non-trivial algorithms whose tuning is challenging. RobOptim aims at providing a unified framework for different categories of optimization problems while relying on strong C++ typing to ensure efficient and correct computations. This paper presents this software, demonstrates its genericity and illustrates current use by two full scale robotics examples.
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Contributor : Thomas Moulard <>
Submitted on : Tuesday, March 19, 2013 - 8:02:57 AM
Last modification on : Thursday, March 18, 2021 - 7:22:01 PM
Long-term archiving on: : Sunday, April 2, 2017 - 2:40:08 PM



  • HAL Id : hal-00802083, version 1


Thomas Moulard, Florent Lamiraux, Karim Bouyarmane, Eiichi Yoshida. RobOptim: an Optimization Framework for Robotics. Robomec, May 2013, Tsukuba, Japan. 4p. ⟨hal-00802083⟩



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